6-1
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
6
This section provides the specifications of a motion control program and the operation
procedures that are required up through actual program development.
6-1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6-2 Motion Control Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6-2-1 Function Blocks for PLCopen® Motion Control . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6-2-2 Motion Control Instructions of the MC Function Module . . . . . . . . . . . . . . . . . 6-5
6-3 State Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6-3-1 Status of the Motion Control Function Module . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6-3-2 Axis States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6-3-3 Axes Group States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6-4 Execution and Status of Motion Control Instructions . . . . . . . . . . . . . . . 6-11
6-4-1 Basic Rules for Execution of Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-11
6-4-2 Execution Timing Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6-4-3 Timing Chart for Re-execution of Motion Control Instructions . . . . . . . . . . . . 6-16
6-4-4 Timing Chart for Multi-execution of Motion Control Instructions . . . . . . . . . . 6-17
6-5 Positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
6-5-1 Types of Positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
6-5-2 Valid Positions for Each Axis Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
6-6 System-defined Variables for Motion Control . . . . . . . . . . . . . . . . . . . . . . 6-20
6-6-1 Overview of System-defined Variables for Motion Control . . . . . . . . . . . . . . 6-20
6-6-2 System for System-defined Variables for Motion Control . . . . . . . . . . . . . . . 6-23
6-6-3 Tables of System-defined Variables for Motion Control . . . . . . . . . . . . . . . . . 6-25
6-7 Cam Tables and Cam Data Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
6-8 Programming Motion Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-40
6-9 Creating Cam Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42
Motion Control Programming
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